Nonlinear Model Predictive Control for Integrated Energy-Efficient Torque-Vectoring and Anti-Roll Moment Distribution

This study applies nonlinear model predictive control (NMPC) to the torque-vectoring (TV) and front-to-total anti-roll moment distribution of a four-wheel-drive electric vehicle with in-wheel-motors, brake-by-wire system, active suspension actuators. The NMPC cost function formulation is based on energy efficiency criteria, strives minimize power losses caused by longitudinal lateral tire slips, friction brakes, powertrains, while enhancing cornering response in steady-state transient conditions. controller assessed through simulations using an experimentally validated high-fidelity model, along ramp steer multiple step maneuvers, including excluding direct yaw actuations. results show: 1) substantial enhancement saving stabilization performance brought integration contribution TV; 2) significance loss terms results; 3) effectiveness respect benchmarking feedback rule controllers.